Technologies Toward Lunar Crater Exploration

Jason Ziglar, David Kohanbash, David Wettergreen, and William (Red) L. Whittaker
tech. report CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007


Download
  • Adobe portable document format (pdf) (7MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
The primary challenge of descending steep, loose slopes is avoiding avalanche, tipover and maintaining control of locomotion. Theory suggests that for loose, granular soil,the strength lies under, not on, the surface. This has not hitherto been exploited for controlling robot descent. In order to take advantage of this, a prototype robot capable of utilizing sub-surface strength was developed and tested. Two unique features are low center-of gravity and an actuated plow capable of penetrating the ground for controlling descent and facilitating pivot. Tests show unprecedented control during descent on loose soil slopes up to 40 degrees. Avalanche sliding is reduced twenty-fold , pivot turning is improved threefold.

Keywords
lunar, mobility, moon, plow, slip, rover, track, icebreaker, highlander

Notes
Sponsor: NASA
Associated Center(s) / Consortia: Space Robotics Initiative and Field Robotics Center
Associated Project(s): Lunar Ice Discovery Initiative

Text Reference
Jason Ziglar, David Kohanbash, David Wettergreen, and William (Red) L. Whittaker, "Technologies Toward Lunar Crater Exploration," tech. report CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007

BibTeX Reference
@techreport{Ziglar_2007_5927,
   author = "Jason Ziglar and David Kohanbash and David Wettergreen and William (Red) L. Whittaker",
   title = "Technologies Toward Lunar Crater Exploration",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "2007",
   number= "CMU-RI-TR-07-40",
   address= "Pittsburgh, PA",
}